WO2021238918A1 - Dispositif et procédé de correction d'écart directionnelle destinée à un appareil d'inspection de rayonnement de type mobile - Google Patents

Dispositif et procédé de correction d'écart directionnelle destinée à un appareil d'inspection de rayonnement de type mobile Download PDF

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Publication number
WO2021238918A1
WO2021238918A1 PCT/CN2021/095809 CN2021095809W WO2021238918A1 WO 2021238918 A1 WO2021238918 A1 WO 2021238918A1 CN 2021095809 W CN2021095809 W CN 2021095809W WO 2021238918 A1 WO2021238918 A1 WO 2021238918A1
Authority
WO
WIPO (PCT)
Prior art keywords
radiation inspection
mobile radiation
inspection device
drive wheel
deviation value
Prior art date
Application number
PCT/CN2021/095809
Other languages
English (en)
Chinese (zh)
Inventor
姜瑞新
王永明
孟德芳
高玉霞
许艳伟
冉占森
孙尚民
宗春光
胡煜
Original Assignee
同方威视技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 同方威视技术股份有限公司 filed Critical 同方威视技术股份有限公司
Priority to PL442983A priority Critical patent/PL442983A1/pl
Priority to GB2217586.3A priority patent/GB2610515A/en
Publication of WO2021238918A1 publication Critical patent/WO2021238918A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V5/00—Prospecting or detecting by the use of ionising radiation, e.g. of natural or induced radioactivity
    • G01V5/20—Detecting prohibited goods, e.g. weapons, explosives, hazardous substances, contraband or smuggled objects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2223/00—Investigating materials by wave or particle radiation
    • G01N2223/30—Accessories, mechanical or electrical features
    • G01N2223/33—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts
    • G01N2223/3303—Accessories, mechanical or electrical features scanning, i.e. relative motion for measurement of successive object-parts object fixed; source and detector move
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
    • G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
    • G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material

Definitions

  • a direction correction device for a mobile radiation inspection device including:
  • the first reference plate and/or the second reference plate can move in the predetermined direction.
  • adjusting the speed difference between the left driving wheel and the right driving wheel of the direction control device includes adjusting the load bearing of the left driving wheel and the right driving wheel. The big one.
  • a direction correction device for a mobile radiation inspection device including: a direction detection device that detects the traveling direction of the mobile radiation inspection device and generates an indication A signal of the direction of travel; a direction control device for controlling the direction of travel of the mobile radiation inspection device, and includes a left drive wheel and a right drive wheel located on opposite sides of the mobile radiation inspection device And a control unit that calculates a deviation value between the traveling direction and a predetermined direction based on the signal received from the direction detection device, and adjusts the left drive wheel of the direction control device based on the deviation value And the right drive wheel to correct the travel direction to the predetermined direction.
  • the direction detection device includes laser area sensors 1A, 1B, and the laser area sensors 1A, 1B generate signals indicating the distance between the current traveling direction and a predetermined direction.
  • the deviation signal of the deviation value is shown in FIGS. 1 and 2.
  • the horizontal fan beam 4A is emitted before, and the receiver is used to receive the fan beam 4A emitted by the transmitter.
  • the deviation value between the indicated traveling direction and the predetermined direction 00' is generated The deviation signal.
  • the angle ⁇ between the midplane of the fan beam indicating the traveling direction and the first reference plate 2A, the distance L1 between the mobile radiation inspection device 20 and the first reference plate 2A in the traveling direction, and the midplane of the fan beam on the first reference plate 2A The distance L2 between the plane and the predetermined direction 00' (as shown in Fig. 3).
  • a mobile radiation inspection system 100 is also provided.
  • the mobile radiation inspection system 100 includes a mobile radiation inspection device 20 and the direction correction device as described above.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Immunology (AREA)
  • Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geophysics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Optics & Photonics (AREA)
  • Analysing Materials By The Use Of Radiation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un dispositif et un procédé de correction d'écart directionnel destinée à un appareil d'inspection de rayonnement de type mobile (20), le dispositif de correction d'écart directionnelle comprenant : des appareils de mesure de direction (1,2), les appareils de mesure de direction (1,2) étant utilisés pour mesurer une direction de déplacement de l'appareil d'inspection de rayonnement de type mobile (20) et générer un signal indiquant la direction de déplacement ; un appareil de commande de direction (3), l'appareil de commande de direction (3) étant utilisé pour commander la direction de déplacement de l'appareil d'inspection de rayonnement de type mobile (20), et comprenant une roue motrice gauche (3A) et une roue motrice droite (3B) situées au niveau de deux côtés opposés de l'appareil d'inspection de rayonnement de type mobile (20) ; et une unité de commande, l'unité de commande calculant une valeur d'écart entre la direction de déplacement et une direction prédéfinie en fonction du signal reçu en provenance des appareils de mesure de direction (1, 2), et réglant une différence de vitesse entre la roue motrice gauche (3A) et la roue motrice droite (3B) de l'appareil de commande de direction (3) en fonction de la valeur d'écart, de façon à corriger la direction de déplacement vers la direction prédéfinie.
PCT/CN2021/095809 2020-05-29 2021-05-25 Dispositif et procédé de correction d'écart directionnelle destinée à un appareil d'inspection de rayonnement de type mobile WO2021238918A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PL442983A PL442983A1 (pl) 2020-05-29 2021-05-25 Urządzenie do korygowania odchylenia kierunku oraz sposób korygowania odchylenia kierunku dla mobilnego urządzenia do kontroli promieniowaniem
GB2217586.3A GB2610515A (en) 2020-05-29 2021-05-25 Directional-deviation correction device and method for mobile-type radiation inspection apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010481930.9A CN113759305A (zh) 2020-05-29 2020-05-29 用于移动式辐射检查装置的方向纠偏设备及方法
CN202010481930.9 2020-05-29

Publications (1)

Publication Number Publication Date
WO2021238918A1 true WO2021238918A1 (fr) 2021-12-02

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ID=78745617

Family Applications (1)

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PCT/CN2021/095809 WO2021238918A1 (fr) 2020-05-29 2021-05-25 Dispositif et procédé de correction d'écart directionnelle destinée à un appareil d'inspection de rayonnement de type mobile

Country Status (4)

Country Link
CN (1) CN113759305A (fr)
GB (1) GB2610515A (fr)
PL (1) PL442983A1 (fr)
WO (1) WO2021238918A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114797192A (zh) * 2022-05-23 2022-07-29 宝武集团鄂城钢铁有限公司 双电机行车式刮泥机斜行预警纠正方法及***

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CN201016939Y (zh) * 2007-02-16 2008-02-06 清华同方威视技术股份有限公司 方向纠偏设备和移动式辐射检查***
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CN101246133A (zh) * 2007-02-16 2008-08-20 同方威视技术股份有限公司 方向纠偏设备和方法及移动式辐射检查***
CN102095421A (zh) * 2007-02-16 2011-06-15 同方威视技术股份有限公司 方向纠偏设备和方法及移动式辐射检查***
CN101885350A (zh) * 2010-07-15 2010-11-17 南京航空航天大学 全方位自动导引车的路径自适应跟踪控制方法
US20120195403A1 (en) * 2011-01-31 2012-08-02 University Of Massachusetts Tomosynthesis imaging
CN109394095A (zh) * 2018-10-23 2019-03-01 珠海市微半导体有限公司 一种机器人运动地毯偏移的控制方法、芯片及清洁机器人

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114797192A (zh) * 2022-05-23 2022-07-29 宝武集团鄂城钢铁有限公司 双电机行车式刮泥机斜行预警纠正方法及***
CN114797192B (zh) * 2022-05-23 2024-02-06 宝武集团鄂城钢铁有限公司 双电机行车式刮泥机斜行预警纠正方法及***

Also Published As

Publication number Publication date
GB2610515A (en) 2023-03-08
PL442983A1 (pl) 2023-08-28
GB202217586D0 (en) 2023-01-11
CN113759305A (zh) 2021-12-07

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